/** A test striker option without common decision */
option(Striker)
{
    float p = -2.5f;
    float i = 0.2f;
//    ArmContact();
    initial_state(walkStraight)
    {
        transition
        {
            if(theLibCodeRelease.odometryXSum >= 6700.f)
	   // if(state_time > 30)
        	//goto pass;
		goto adjust;
        }
        action
        { 
		WalkAtRelativeSpeed(Pose2f(p * theLibCodeRelease.odometryRSum, 0.8f, 0.f));
		//WalkAtRelativeSpeed(Pose2f(0.f, 0.8f, 0.f));
        }
    }


    state(adjust)
    {
        transition
        {
               if((theLibCodeRelease.odometryYSum<5.f && theLibCodeRelease.odometryYSum>-5.f) || state_time > 5000)
                  goto pass;
        }
        action
        {
               if(theLibCodeRelease.odometryYSum>0.f)
	       {
			WalkAtAbsoluteSpeed(Pose2f(i*theLibCodeRelease.odometryRSum,0.f,-10.f));	
		}
		else
		{
			WalkAtAbsoluteSpeed(Pose2f(i*theLibCodeRelease.odometryRSum,0.f,10.f));
		}
        }
    }
    state(pass)
    {
	transition
	{
		if(action_done)
		  goto finish;
	}
        action
	{
            Stand();
	    SpecialAction(SpecialActionRequest::keeperJumpLeftPenalty);	
	}
    }
    
	state(finish)
	{
		action
		{
			Stand();
		}
	}
}
